WO2021095653A1 - Actionneur rotatif - Google Patents

Actionneur rotatif Download PDF

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Publication number
WO2021095653A1
WO2021095653A1 PCT/JP2020/041529 JP2020041529W WO2021095653A1 WO 2021095653 A1 WO2021095653 A1 WO 2021095653A1 JP 2020041529 W JP2020041529 W JP 2020041529W WO 2021095653 A1 WO2021095653 A1 WO 2021095653A1
Authority
WO
WIPO (PCT)
Prior art keywords
sliding surface
side sliding
eccentric
input side
output
Prior art date
Application number
PCT/JP2020/041529
Other languages
English (en)
Japanese (ja)
Inventor
史也 管納
弘之 角
大石　健一
真治 内藤
Original Assignee
株式会社デンソー
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Publication of WO2021095653A1 publication Critical patent/WO2021095653A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/02—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions
    • F16D3/04—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions specially adapted to allow radial displacement, e.g. Oldham couplings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears

Definitions

  • This disclosure relates to a rotary actuator.
  • the Oldam mechanism has been known as a means for transmitting and connecting input / output members arranged in different stages.
  • the Oldham joint disclosed in Patent Document 1 includes a first joint member attached to an input shaft, a second joint member attached to an output shaft, and an intermediate joint member interposed between both joint members.
  • the engaging surfaces of the intermediate joint member and each of the first and second joint members are in contact with a cylindrical protrusion that engages with each other so as to be relatively movable in a direction perpendicular to the input / output shaft.
  • a plurality of sets of engaging holes having curved walls are provided.
  • the present disclosed person considers using an old dam mechanism in a rotary actuator including a motor and a speed reducer for reducing the motor rotation in order to transmit the rotation of the gears of the speed reducer to an output member.
  • a rotary actuator including a motor and a speed reducer for reducing the motor rotation in order to transmit the rotation of the gears of the speed reducer to an output member.
  • the old dam joint of Patent Document 1 has not been studied for miniaturization, when this old dam joint is adopted for a rotary actuator, there is a concern that the size in the axial direction may increase.
  • the present disclosure has been made in view of the above points, and an object of the present disclosure is to provide a rotary actuator that uses an old dam mechanism and suppresses an increase in axial size.
  • the rotary actuator of the present disclosure includes a motor and a speed reducer that decelerates and outputs the rotation of the motor.
  • the speed reducer has a ring gear provided coaxially with the rotation axis of the motor and an outer tooth portion provided eccentrically with respect to the rotation axis and meshes with the inner tooth portion of the ring gear, and is eccentric when the motor rotates. It includes an eccentric gear that decelerates and rotates around the axis, an output member provided coaxially or parallel to the axis of rotation, and an oldham mechanism that transmits the rotation around the eccentric axis of the eccentric gear to the output member.
  • the Oldham mechanism includes an input-side sliding surface formed on the eccentric gear, an output-side sliding surface formed on the output member, and a first intermediate sliding surface that can slide in the radial direction with the input-side sliding surface. And an intermediate joint having a sliding surface on the output side and a second intermediate sliding surface slidable in the radial direction.
  • the eccentric gear has a sliding surface on the input side and an accommodating space accommodating at least a part of the intermediate joint at a position radially inside with respect to the external tooth portion and at a position where the external tooth portion and the axial position overlap.
  • FIG. 1 is a cross-sectional view of the rotary actuator according to the first embodiment.
  • FIG. 2 is a diagram showing an eccentric gear in the first embodiment.
  • FIG. 3 is an enlarged cross-sectional view showing the eccentric gear of FIG.
  • FIG. 4 is a diagram showing an output member in the first embodiment.
  • FIG. 5 is a diagram showing an intermediate joint in the first embodiment.
  • FIG. 6 is a diagram showing an eccentric gear in the second embodiment.
  • FIG. 7 is a diagram showing an output member in the second embodiment.
  • FIG. 8 is an enlarged view showing a main part of the eccentric gear in the third embodiment.
  • FIG. 1 is a cross-sectional view of the rotary actuator according to the first embodiment.
  • FIG. 2 is a diagram showing an eccentric gear in the first embodiment.
  • FIG. 3 is an enlarged cross-sectional view showing the eccentric gear of FIG.
  • FIG. 4 is a diagram showing an output member in the first embodiment.
  • FIG. 5 is a diagram showing an intermediate joint in the first
  • FIG. 9 is an enlarged view showing a main part of the output member in the third embodiment.
  • FIG. 10 is a cross-sectional view of the periphery of the old dam mechanism of the rotary actuator according to the fourth embodiment.
  • FIG. 11 is a view of the intermediate joint of FIG. 10 as viewed from the direction of arrow XI.
  • FIG. 12 is a view of the intermediate joint of FIG. 10 as viewed from the direction of arrow XII.
  • actuator rotary actuator
  • the actuator 10 includes a housing 20, a motor 30, and a speed reducer 40.
  • the housing 20 includes a cup-shaped front housing 21 and a rear housing 22.
  • the front housing 21 and the rear housing 22 have openings combined with each other and fastened to each other by bolts 23.
  • a bottomed tubular metal plate 24 is embedded in the front housing 21.
  • An annular metal plate 25 is embedded in the rear housing 22.
  • the rear housing 22 has a tubular protrusion 26 that projects to the opposite side of the front housing 21.
  • the motor 30 includes a stator 31 and a rotor 34.
  • the stator 31 has a stator core 32 fixed to the tubular portion of the metal plate 24 by, for example, press fitting, and a coil 33 provided on the stator core 32.
  • the rotor 34 has a rotating shaft 37 rotatably supported around the rotating shaft center AX1 by bearings 35 and 36, and a rotor core 38 fitted and fixed to the outside of the rotating shaft 37.
  • the bearing 35 is provided at the center of the metal plate 24.
  • the bearing 36 is provided on the shaft portion 54 of the output member 44, which will be described later.
  • the motor 30 can rotate in both directions by controlling the energizing current to the coil 33.
  • the speed reducer 40 includes an eccentric shaft 41, a ring gear 42, an eccentric gear 43, an output member 44, and an old dam mechanism 45.
  • the eccentric shaft 41 is provided on the eccentric shaft center AX2 which is eccentric with respect to the rotation shaft center AX1 at a position adjacent to the rotor core 38 in the axial direction.
  • the eccentric shaft 41 is formed integrally with the rotating shaft 37, and rotates around the rotating shaft center AX1 together with the rotating shaft 37.
  • the ring gear 42 is provided coaxially with the rotation axis AX1 and is fixed to the metal plate 25 by, for example, press fitting.
  • the eccentric gear 43 has an external tooth portion 47 that meshes with the internal tooth portion 46 of the ring gear 42, and is supported by a bearing 48 provided on the eccentric shaft 41 so that the planet can move.
  • the planetary motion is a motion that revolves around the eccentric axis AX1 while rotating around the eccentric axis AX2.
  • the rotation speed of the eccentric gear 43 during planetary motion is changed with respect to the rotation speed of the rotation shaft 37. That is, when the motor 30 rotates, the eccentric gear 43 decelerates and rotates around the eccentric axis AX2.
  • the output member 44 is provided coaxially with the rotation axis AX1 and is rotatably supported by a bearing 49 provided in the rear housing 22.
  • the oldham mechanism 45 is provided between the eccentric gear 43 and the output member 44, and transmits the rotation of the eccentric gear 43 around the eccentric axis AX2 to the output member 44.
  • a rotating magnetic field is generated by switching the energizing phase of the coil 33, and the rotor 34 rotates by receiving a magnetic attraction force or a repulsive force generated by the rotating magnetic field.
  • the eccentric shaft 41 rotates around the rotation axis AX1 together with the rotor 34, the eccentric gear 43 makes a planetary motion, and the rotation of the eccentric gear 43 decelerated with respect to the rotation of the rotor 34 is output from the output member 44 to the outside.
  • the eccentric gear 43, the output member 44, and the intermediate joint 56 of FIG. 1 show the cross sections taken along the line II of FIGS. 2, 4, and 5.
  • the eccentric gear 43 includes an annular shaft support portion 51 rotatably supported around the eccentric shaft center AX2, an annular external tooth portion 47 provided at the same axial position as the shaft support portion 51, and a shaft support portion 51. And the external tooth portion 47 are connected to form a bulging portion 53 provided so as to bulge toward the motor 30 side in the axial direction with respect to the external tooth portion 47.
  • the internal tooth portion 46 and the external tooth portion 47 are arranged between the coil end 39 and the output member 44 in the axial direction.
  • the bulging portion 53 is arranged in a space 28 (that is, an empty space) radially inside the coil end 39.
  • the output member 44 has a shaft portion 54 supported by the bearing 49 and a flange portion 55 protruding radially outward from the shaft portion 54.
  • the oldham mechanism 45 includes an input side sliding surface 61 formed on the eccentric gear 43, an output side sliding surface 62 formed on the output member 44, and an intermediate joint 56.
  • the intermediate joint 56 has a first intermediate sliding surface 63 that can slide radially with the input side sliding surface 61, and a second intermediate sliding surface 64 that can slide radially with the output side sliding surface 62. Has.
  • the bulging portion 53 partitions the accommodation space 65 between the shaft supporting portion 51 and the external tooth portion 47 in the radial direction.
  • the accommodation space 65 includes an annular space 66 in the recess of the bulge 53 recessed toward the motor 30, and a notch space 67 extending radially outward from the annular space 66.
  • the wall surface that partitions the notch space 67 includes an input-side sliding surface 61. That is, the input side sliding surface 61 is composed of a part of the wall surface that divides the notch space 67.
  • the flange portion 55 has a notch space 68 extending radially inward from the outer edge.
  • the wall surface that partitions the notch space 68 includes an output side sliding surface 62. That is, the output side sliding surface 62 is composed of a part of the wall surface that divides the notch space 68.
  • the intermediate joint 56 includes an annular base 57 housed in the annular space 66 of the accommodation space 65, a first protrusion 58 projecting radially outward from the base 57, and a second projecting from the base 57 toward the output member 44. It has a protrusion 59.
  • the second protrusion 59 is formed so as to protrude toward the output member 44 by offsetting toward the output member 44 while extending radially outward from the base 57.
  • the eccentric gear 43 has a structure that encloses a part of the intermediate joint 56. That is, the accommodation space 65 accommodates a part of the intermediate joint 56. Further, the eccentric gear 43 has the input side sliding surface 61 and the accommodation space 65 at a position radially inside the external tooth portion 47 and at a position where the external tooth portion 47 and the axial position overlap.
  • the accommodation space 65 accommodates the base 57 and the first protrusion 58.
  • the input side sliding surface 61 and the accommodation space 65 are provided so as to completely coincide with the external tooth portion 47 in the axial direction.
  • the oldham mechanism 45 is contained within the axial width of the base portion 57 and the flange portion 55.
  • the circumferential width of the tip of the first protrusion 58 is larger than the circumferential width of the base end.
  • the first intermediate sliding surface 63 is formed on both sides in the circumferential direction of the tip end portion of the first protrusion 58.
  • the first intermediate sliding surface 63 has a convex curved surface when viewed in the axial direction, and is in line contact with the flat input side sliding surface 61.
  • the circumferential width of the tip of the second protrusion 59 is larger than the circumferential width of the base end.
  • the second intermediate sliding surface 64 is formed on both sides in the circumferential direction of the tip end portion of the second protrusion 59.
  • the second intermediate sliding surface 64 has a convex curved surface when viewed in the axial direction, and is in line contact with the flat output side sliding surface 62.
  • a recess 69 is formed at the radial outer tips of the first protrusion 58 and the second protrusion 59. Assuming that the deepest portion of the recess 69 (that is, the portion located on the innermost side in the radial direction) is the deepest portion, both sides of the deepest portion in the circumferential direction are inclined surfaces that are continuously deepened toward the deepest portion. In the first embodiment, the recess 69 forms a concave curved surface. The recess 69 functions as a gripping portion and a positioning portion when the intermediate joint 56 is assembled.
  • the eccentric gear 43 has the input side sliding surface 61 and the accommodation space 65 accommodating at least a part of the intermediate joint 56 in the radial direction with respect to the external tooth portion 47. It is provided at a position on the inside where the external tooth portion 47 and the axial position overlap.
  • the input side sliding surface 61 is formed on the eccentric gear 43, and the output side sliding surface 62 is formed on the output member 44. Therefore, the number of parts can be reduced as compared with the form in which the input side sliding surface 61 and the output side sliding surface 62 are provided by using separate members.
  • the first protrusion 58 is provided so as to protrude outward in the radial direction from the base 57. Therefore, as compared with the form in which the base portion of the intermediate joint is arranged so as to be adjacent to the input side rotating body in the axial direction and the protrusion is provided so as to protrude in the axial direction from the base portion toward the input side rotating body. The stress generated at the base of the first protrusion 58 is reduced, and the durability is improved.
  • a recess 69 is formed at the radial outer tips of the first protrusion 58 and the second protrusion 59.
  • the recess 69 is used as a gripping portion and a positioning portion to improve the assembling property.
  • the structure is such that it is not known where the sliding surfaces slide due to the dimensional variation of each part. Therefore, it is not possible to narrow down the wear parts of the parts, and it is necessary to improve the dimensional accuracy of the entire sliding surface in order to improve the wear resistance. In addition, there is concern about abnormal wear.
  • one of the first intermediate sliding surface 63 and the input side sliding surface 61 is a convex curved surface
  • one of the second intermediate sliding surface 64 and the output side sliding surface 62 is convex. It is a curved surface.
  • the first intermediate sliding surface 63 and the input side sliding surface 61 are in line contact
  • the second intermediate sliding surface 64 and the output side sliding surface 62 are in line contact. Therefore, it is possible to reduce the variation in the surface pressure of the sliding surface due to the variation in the dimensions of each component and limit the sliding range of the sliding surface. By limiting the sliding range, design becomes easier and the workability of parts is improved.
  • the eccentric gear 43 has an input side sliding surface 61 formed at a position facing the eccentric axis AX2 and a circumference different from the input side sliding surface 61.
  • An input-side preliminary sliding surface 71 formed at a position facing the eccentric axis AX2 at a directional position is provided.
  • the input-side spare sliding surface 71 is a spare sliding surface and has the same shape as the input-side sliding surface 61.
  • the eccentric gear 43 is formed with a lightening hole 75 between the input side sliding surface 61 and the input side preliminary sliding surface 71 in the circumferential direction.
  • the output member 44 has an output side sliding surface 62 formed at a position facing the eccentric axis AX2 and an eccentric axis at a position different from the output side sliding surface 62 in the circumferential direction.
  • An output-side preliminary sliding surface 72 formed at a position facing the AX2 is provided.
  • the output side spare sliding surface 72 is a spare sliding surface and has the same shape as the output side sliding surface 62.
  • the width W1 of the portion 81 of the notch space 87 located radially inside with respect to the input side sliding surface 61 is the input side sliding of the notch space 87. It is larger than the width W2 of the portion 82 corresponding to the surface 61.
  • the portion 82 other than the input side sliding surface 61 can have an arbitrary shape regardless of the input side sliding surface 61. Therefore, the notch space 87 can be easily machined by simplifying the shape of the portion 82.
  • the width W3 of the portion 83 of the notch space 88 located radially inside with respect to the output side sliding surface 62 is the portion of the notch space 88 corresponding to the output side sliding surface 62. It is larger than the width W4 of 84.
  • the portion 84 other than the output side sliding surface 62 can have an arbitrary shape regardless of the output side sliding surface 62. Therefore, the notch space 88 can be easily machined by simplifying the shape of the portion 84.
  • the intermediate joint 56 projects axially toward the eccentric gear 43 so that the intermediate joint 56 and the eccentric gear 43 partially contact each other in the circumferential direction.
  • the provided input side protrusion 91 is formed.
  • the intermediate joint 56 protrudes in the axial direction toward the output member 44, and the output side protrusion provided so that the intermediate joint 56 and the output member 44 partially contact each other in the circumferential direction. It forms 92.
  • the output side protrusion 92 By providing the output side protrusion 92 in this way, the sliding resistance between the intermediate joint 56 and the output member 44 is reduced, and the slidability is improved.
  • the meshing length between the eccentric gear 43 and the intermediate joint 56 and the meshing length between the output member 44 and the intermediate joint 56 can be easily managed. Therefore, it is possible to suppress an increase in the surface pressure of the sliding surface. As a result, deterioration of transmission efficiency can be prevented.
  • the accommodation space for the eccentric gear may accommodate a portion of the base and first protrusion of the intermediate joint.
  • the input side sliding surface and the accommodation space may partially overlap the external tooth portion in the axial position. Nevertheless, the axial size of the reducer can be suppressed.
  • the first intermediate sliding surface and the second intermediate sliding surface are convex curved surfaces.
  • the input side sliding surface and the output side sliding surface may be convex curved surfaces.
  • the input side protrusion and the output side protrusion are formed on the intermediate joint.
  • the input side protrusion may be formed on the eccentric gear, and the output side protrusion may be formed on the output member.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Retarders (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

Réducteur de vitesse (40) pourvu de ce qui suit : une couronne (42) ; un engrenage excentrique (43) qui est disposé de manière excentrique par rapport à un axe de rotation (AX1), et qui a des parties de dent externes (47) qui s'engrènent avec la couronne (42) ; un élément de sortie (44) disposé de manière coaxiale avec l'axe de rotation (AX1) ; et un mécanisme d'Oldham (45) qui transfère la rotation de l'engrenage excentrique (43) à l'élément de sortie (44). Le mécanisme d'Oldham (45) comprend : une surface de glissement côté entrée (61) formé sur l'engrenage excentrique (43) ; une surface de glissement côté sortie (62) formé sur l'élément de sortie (44) ; et un joint intermédiaire (56) présentant une première surface de glissement intermédiaire (63) qui est apte à coulisser contre la surface de glissement côté entrée (61) dans la direction radiale, et une seconde surface de glissement intermédiaire (64) qui est apte à coulisser contre la surface de coulissement côté sortie (62) dans la direction radiale. L'engrenage excentrique (43) comprend la surface de glissement côté entrée (61) et un espace de réception (65) qui reçoit au moins une partie du joint intermédiaire (56), dans une position qui est radialement vers l'intérieur des parties de dents externes (47) et qui chevauche la position des parties de dents externes (47) dans la direction axiale.
PCT/JP2020/041529 2019-11-15 2020-11-06 Actionneur rotatif WO2021095653A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019206915A JP7156253B2 (ja) 2019-11-15 2019-11-15 回転式アクチュエータ
JP2019-206915 2019-11-15

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WO2021095653A1 true WO2021095653A1 (fr) 2021-05-20

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0243486U (fr) * 1988-09-20 1990-03-26
JPH02161189A (ja) * 1988-12-13 1990-06-21 Shin Meiwa Ind Co Ltd スクロール型流体装置
JPH0526304A (ja) * 1991-07-16 1993-02-02 Nitta Ind Corp ハイポサイクロイド減速機
JP2005282601A (ja) * 2004-03-26 2005-10-13 Denso Corp 回転式アクチュエータ
JP2008185205A (ja) * 2007-01-26 2008-08-14 Kinzo Shinozuka はめ合い摩擦を軽減したオルダムカップリング
JP2016075369A (ja) * 2014-10-08 2016-05-12 株式会社デンソー 内接噛合遊星歯車機構
JP2019044801A (ja) * 2017-08-30 2019-03-22 株式会社デンソー 偏心揺動型減速装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0243486U (fr) * 1988-09-20 1990-03-26
JPH02161189A (ja) * 1988-12-13 1990-06-21 Shin Meiwa Ind Co Ltd スクロール型流体装置
JPH0526304A (ja) * 1991-07-16 1993-02-02 Nitta Ind Corp ハイポサイクロイド減速機
JP2005282601A (ja) * 2004-03-26 2005-10-13 Denso Corp 回転式アクチュエータ
JP2008185205A (ja) * 2007-01-26 2008-08-14 Kinzo Shinozuka はめ合い摩擦を軽減したオルダムカップリング
JP2016075369A (ja) * 2014-10-08 2016-05-12 株式会社デンソー 内接噛合遊星歯車機構
JP2019044801A (ja) * 2017-08-30 2019-03-22 株式会社デンソー 偏心揺動型減速装置

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JP2021080957A (ja) 2021-05-27

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